argos_lib::swerve Namespace Reference

Classes
class	NetworkTablesHomingStorage
	Saves and loads swerve module homes to networkTables. More...
class	SwerveHomeStorageInterface
	Interface capable of saving and loading module home positions from persistent storage. More...
struct	SwerveModulePositions
	Representation of the absolute encoder position of each module at home position. More...
struct	TranslationSpeeds
	Translation speeds as percent max output. More...

Functions
units::degree_t	NearestAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded. More...
units::degree_t	InvertedAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of a vector 180-degrees offset from desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded. More...
units::degree_t	ConstrainAngle (units::degree_t inVal, units::degree_t minVal, units::degree_t maxVal)
	Normalize angle to specified range. More...
double	ConstrainAngle (double inVal, double minVal, double maxVal)
	Normalize angle to specified range. More...
frc::SwerveModuleState	Optimize (frc::SwerveModuleState desiredState, units::degree_t currentModuleAngle, units::degrees_per_second_t currentModuleAngularRate, units::feet_per_second_t currentModuleDriveVel, units::feet_per_second_t maxVelocity)
	Optimize swerve module to minimize rotations and drive direction changes. More...
template<class T , int size, class V >
constexpr TranslationSpeeds	CircularInterpolate (const TranslationSpeeds rawSpeeds, const argos_lib::InterpolationMap< T, size, V > interpMap)
	Use argos_lib::InterpolationMap to apply mapping according to joystick vector magnitude. More...

Function Documentation

CircularInterpolate()

template<class T , int size, class V >

constexpr TranslationSpeeds argos_lib::swerve::CircularInterpolate ( const TranslationSpeeds  rawSpeeds, const argos_lib::InterpolationMap< T, size, V >  interpMap  )

constexpr

Use argos_lib::InterpolationMap to apply mapping according to joystick vector magnitude.

Template Parameters

T	Type of interpolated input
size	Number of elements in interpolation map
V	Type of interpolated output

Parameters

rawSpeeds	Joystick inputs as percentages
interpMap	Interpolation map to apply to magnitudes

Returns

Remapped joystick percentages. Angle of vector will match rawSpeeds, but magnitude will scale according to interpMap. This results in circular deadband and other mapping results.

ConstrainAngle() [1/2]

double argos_lib::swerve::ConstrainAngle	(	double	inVal,
		double	minVal,
		double	maxVal
	)

Normalize angle to specified range.

Parameters

inVal	Angle to constrain (degrees)
minVal	Normalization lower bound (degrees)
maxVal	Normalization upper bound (degrees)

Returns

Normalized value in range [minVal, maxVal] (degrees)

ConstrainAngle() [2/2]

units::degree_t argos_lib::swerve::ConstrainAngle	(	units::degree_t	inVal,
		units::degree_t	minVal,
		units::degree_t	maxVal
	)

Normalize angle to specified range.

Parameters

inVal	Angle to constrain
minVal	Normalization lower bound
maxVal	Normalization upper bound

Returns

Normalized value in range [minVal, maxVal]

InvertedAngle()

units::degree_t argos_lib::swerve::InvertedAngle	(	units::degree_t	desiredAngle,
		units::degree_t	referenceAngle
	)

Finds closest angle alias of a vector 180-degrees offset from desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.

Parameters

desiredAngle	Angle to find 180-degree offset alias for
referenceAngle	Defines desired alias range

Returns

Offset angle alias of desiredAngle in range (referencedAngle - 180_deg, referencedAngle + 180_deg]

NearestAngle()

units::degree_t argos_lib::swerve::NearestAngle	(	units::degree_t	desiredAngle,
		units::degree_t	referenceAngle
	)

Finds closest angle alias of desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.

Parameters

desiredAngle	Angle to find alias for
referenceAngle	Defines desired alias range

Returns

Angle alias of desiredAngle in range (referencedAngle - 180_deg, referencedAngle + 180_deg]

Optimize()

frc::SwerveModuleState argos_lib::swerve::Optimize	(	frc::SwerveModuleState	desiredState,
		units::degree_t	currentModuleAngle,
		units::degrees_per_second_t	currentModuleAngularRate,
		units::feet_per_second_t	currentModuleDriveVel,
		units::feet_per_second_t	maxVelocity
	)

Optimize swerve module to minimize rotations and drive direction changes.

Parameters

desiredState	Requested state. Output must result in same motion
currentModuleAngle	Module rotation angle in relative or absolute position
currentModuleAngularRate	Current module rotation speed. To prevent rapid changes in rotation direction.
currentModuleDriveVel	Current module drive velocity. To prevent rapid changes in drive motor velocity.
maxVelocity	Max velocity for determining max transition change thresholds

Returns

Optimized swerve module state that results in same motion as desiredState